CN103517820A - Vehicle, and method and system of controlling the driveline of a vehicle - Google Patents

Vehicle, and method and system of controlling the driveline of a vehicle Download PDF

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Publication number
CN103517820A
CN103517820A CN201280018956.3A CN201280018956A CN103517820A CN 103517820 A CN103517820 A CN 103517820A CN 201280018956 A CN201280018956 A CN 201280018956A CN 103517820 A CN103517820 A CN 103517820A
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CN
China
Prior art keywords
vehicle
wheel
power train
group
pattern
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201280018956.3A
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Chinese (zh)
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CN103517820B (en
Inventor
皮特·斯泰尔斯
兰·贝弗利
肖恩·威克
拉塞尔·奥斯本
保罗·比韦尔
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Jaguar Land Rover Ltd
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Land Rover UK Ltd
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Publication date
Application filed by Land Rover UK Ltd filed Critical Land Rover UK Ltd
Priority to CN201610565401.0A priority Critical patent/CN106004426B/en
Publication of CN103517820A publication Critical patent/CN103517820A/en
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Publication of CN103517820B publication Critical patent/CN103517820B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/348—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed
    • B60K17/35—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having differential means for driving one set of wheels, e.g. the front, at one speed and the other set, e.g. the rear, at a different speed including arrangements for suppressing or influencing the power transfer, e.g. viscous clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/20—Reducing vibrations in the driveline
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
    • B60K2023/0858—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated with electric means, e.g. electro-hydraulic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/02—Clutches
    • B60W2510/0291—Clutch temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/06—Ignition switch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/40—Torque distribution
    • B60W2720/403—Torque distribution between front and rear axle

Abstract

Embodiments of the present invention provide a motor vehicle having: a prime mover means; at least first and second groups of one or more wheels; and a driveline operable to connect the prime mover means to the first and second groups of one or more wheels such that the first group of one or more wheels and not the second group is coupled to a torque transmission path from the prime mover means when the driveline is in a first mode of operation and both the first and second groups of one or more wheels are coupled to a torque transmission path from the prime mover means when the driveline is in a second mode of operation, the driveline including an auxiliary portion for connecting the second group to the torque transmission path from the prime mover means, the auxiliary portion comprising first and second releasable torque transmitting means and a prop shaft, the first releasable torque transmitting means being operable to connect a first end of the prop shaft to the torque transmission path from the prime mover means, the second releasable torque transmitting means being operable to connect a second end of the prop shaft to the second group of one or more wheels, the vehicle further comprising control means operable to control the first and second torque transmitting means to switch the driveline between the first and second modes of operation such that in the first mode the prop shaft is disconnected from both the torque transmission path from the prime mover means and said second group of one or more wheels, wherein when in the first mode the vehicle is operable to control the driveline to switch from the first mode to the second mode responsive to a speed of the vehicle.

Description

Vehicle and the method and system of controlling the Power Train of vehicle
Technical field
The present invention relates to a kind of power actuated vehicle and relate to a kind of method of controlling machine motor vehicle.Particularly but nonexclusively, the present invention relates to a kind of power actuated vehicle such as all-terrain vehicle (ATV), this power actuated vehicle has the Power Train that can be operable to the number that changes the wheel that the moment of torsion that drives vehicle is provided.
Background technology
Knownly provide a kind of power actuated vehicle, this power actuated vehicle has the four wheel drive operational mode that motion-promotion force is supplied to every pair of wheel in two pairs of wheels of vehicle.Motion-promotion force is supplied to wheel by Power Train.
Some known vehicle set become to make motion-promotion force for good and all be supplied to two pairs of wheels.Some other vehicle set become motion-promotion force is optionally supplied to or only pair of wheels or two pairs of wheels.Chaufeur can operate finder and can be arranged to allow chaufeur to select two-wheeled operation or four-wheel operation.Some powertrain systems are static while requiring vehicles to be to change between two-wheel drive mode and four wheel drive pattern.This system can be called as static disconnect/reconnect welding system.
GB2407804 discloses a kind of dynamic Power Train and has reconnected device, and wherein, two wheels and Power Train occur after disconnecting therein these two wheels and reconnecting of Power Train can be carried out when Vehicle Driving Cycle.This system can be called as dynamic Power Train and reconnect system.In GB2407804, disclosed system adopts clutch equipment to reconnect so that can realize dynamic Power Train.
The object of embodiments of the present invention is to alleviate at least in part the shortcoming of known dynamic powertrain system.
Summary of the invention
Can be by understanding embodiments of the present invention with reference to claims.
Each aspect of the present invention provides a kind of power actuated vehicle and a kind of method.
Of the present invention claimed on the other hand in, a kind of power actuated vehicle is provided, this power actuated vehicle has: primary mover device; The one or more wheels of at least the first group and second group of one or more wheel; And Power Train, described Power Train can be operable to described primary mover device is connected to described first group of one or more wheel and described second group of one or more wheel, make: when described Power Train is in the first operational mode, described first group of one or more wheel but not described second group are attached to the torque transfer path that is derived from described primary mover device; and when described Power Train is in the second operational mode, the two is all attached to the torque transfer path that is derived from described primary mover device described first group of one or more wheel and described second group of one or more wheel, described Power Train comprises the slave part for being connected to by described second group the described torque transfer path that is derived from described primary mover device, described slave part comprises that first can discharge torque transmission and second and can discharge torque transmission and rear-guard transmission shaft, described first can discharge torque transmission can be operable to the first end of described rear-guard transmission shaft is connected to the described torque transfer path that is derived from described primary mover device, described second can discharge torque transmission can be operable to the second end of described rear-guard transmission shaft is connected to described second group of one or more wheel, described vehicle also comprises control setup, described control setup can be operable to controls described the first torque transmission and described the second torque transmission to switch described Power Train between described the first operational mode and described the second operational mode, make in described first mode, the two all disconnects described rear-guard transmission shaft with being derived from the described torque transfer path of described primary mover device and described second group of one or more wheel, wherein, when in described first mode, described vehicle can be operable in response to the speed of described vehicle and control described Power Train to be switched to described the second pattern from described first mode.
Should be understood that, when rear-guard transmission shaft is when being derived from the torque transfer path of primary mover device and described second group of one or more wheel and all disconnecting, even when vehicle just in motion rear-guard transmission shaft can be also substantially static.
Should be understood that, the group that has one or more wheels of civilian middle finger comprises the group that refers to have the member who only has a wheel.
Should be understood that, change speed gear box, change-speed box or miscellaneous part can be arranged on the torque transfer path of the slave part from primary mover device to Power Train.Should be understood that, change speed gear box or change-speed box can be operable in the situation that Power Train is in first mode or the second pattern primary mover device and first group of wheel and second group of wheel are disconnected, and the pattern of selected Power Train can discharge by first the state that torque transmission and second can discharge torque transmission and determine.; no matter whether change-speed box can be passed to by change-speed box in the state of first group of wheel or second group of wheel in moment of torsion, Power Train pattern all by reference first, can discharge torque transmission and the second state that can discharge torque transmission is determined.
In embodiment, this control setup can be operable to be controlled Power Train and takes the second pattern when being less than or equal to the first defined threshold velocity amplitude in speed.
In embodiment, this control setup can be operable to controls Power Train to take the second pattern when vehicle is substantially static.
In embodiment, this control setup is configured to control vehicle and with and vehicle substantially static at vehicle, takes the second pattern during in dead ship condition.
In embodiment, primary mover device comprises driving engine, and dead ship condition is corresponding with the state of tail-off.
In embodiment, this vehicle set has the automatic transmission with hydraulic torque converter with " parking " pattern and " neutral gear " pattern, and this vehicle set becomes to control Power Train and takes the second pattern with time in the one in being selected from " parking " pattern and " neutral gear " pattern at change-speed box.
In embodiment, the first defined threshold velocity amplitude is non-vanishing.
This feature tool has the following advantages: reduced vehicle stop and risk in the configuration of Power Train in taking the second pattern.This configuration can for example occur dentation state owing to can discharging the tooth of torque transmission.Yet, by taking the second pattern when vehicle still travels, reduced by first and can discharge torque transmission and/or second and can discharge torque transmission because tooth is to tooth or similar state and rear-guard transmission shaft can not be connected to the risk of primary mover device and/or second group of one or more wheel.
In embodiment, the first defined threshold velocity amplitude is in being selected from from 1 kilometer/hour to 50 kilometers/hour, from 1 kilometer/hour to 40 kilometers/hour, from 1 kilometer/hour to 30 kilometers/hour, from 1 kilometer/hour to 20 kilometers/hour, from 1 kilometer/hour to 15 kilometers/hour, from 1 kilometer/hour to 10 kilometers/hour, from 1 kilometer/hour to 5 kilometers/hour, from 5 kilometers/hour to 10 kilometers/hour and from least one the scope of kilometers/hour 5 to 15 kilometers/hour.
In embodiment, this control setup is configured to control Power Train and takes first mode when above to rise to the first defined threshold velocity amplitude in speed from the value below the first defined threshold velocity amplitude.
In embodiment, this control setup is configured to control Power Train and takes first mode when above to rise to the second defined threshold velocity amplitude larger than the first defined threshold velocity amplitude in speed from the value below the second defined threshold velocity amplitude.
This tool has the following advantages: can introduce " gantry hysteresis " about there is the threshold speed of the transformation between first mode and the second pattern.This has advantages of the risk that can reduce pattern flutter.
Pattern flutter means that vehicle changes repeatedly within the relatively short period between first mode and the second pattern.For example, if vehicle set becomes and to drop to the first specified value in speed and be converted to the second pattern from first mode when following, but in speed, be raised to identical specified value and change back to first mode when above, pattern flutter meeting occurs about this specified value fluctuation in the situation that in the speed of a motor vehicle.The speed of a motor vehicle may due to traffic or in the situation that chaufeur attempts to keep the speed that is similar to described specified value to fluctuate about described specified value.
In embodiment, the first defined threshold velocity amplitude is substantially equal to or less than 15 kilometers/hour and the second defined threshold and is greater than 15 kilometers/hour.
In embodiment, this control setup can be operable to be controlled Power Train and takes the second pattern when above to rise to the 3rd defined threshold velocity amplitude in speed from the value below the 3rd defined threshold velocity amplitude.
In embodiment, the 3rd threshold speed value is greater than first threshold velocity amplitude.
In embodiment, the 3rd threshold speed value is greater than Second Threshold velocity amplitude.
In embodiment, this control setup can be operable to be controlled Power Train and takes first mode, the 4th defined threshold velocity amplitude to be greater than the second defined threshold velocity amplitude and be less than the 3rd defined threshold velocity amplitude when following to drop to the 4th defined threshold velocity amplitude in speed from value more than the 4th defined threshold velocity amplitude.
In embodiment, when control setup is controlled Power Train when taking the second pattern in response to the speed of vehicle, control setup can be operable to controls Power Train to be accomplished to the transformation of the second pattern in the period, and the length of this period is in response to the rate of change of the deceleration/decel of vehicle.
This feature tool has the following advantages: Power Train is arranged in chaufeur and relatively at full tilt vehicle is applied to braking and take quickly the second pattern when increasing the rate of change of deceleration/decel of vehicle, thereby guarantees to take the second pattern before vehicle stop.This has reduced Power Train for example because the tooth of its one or more power-transfer clutchs can not correctly be taked the risk of the second pattern to dentation state.
In addition, take quickly the second pattern tool to have the following advantages: when car retardation, can enjoy quickly the road-holding property that vehicle improves.
To taking the transformation of the second pattern conventionally to need the movement of one or more actuators completely.In order to complete quickly this transformation, and not that the situation that too soon completes this transformation is compared, vehicle can be configured to control actuator to move quickly.
In embodiment, when control setup is controlled Power Train when taking the second pattern in response to the speed of vehicle, car construction becomes to control Power Train to be accomplished to the transformation of the second pattern in the period reducing according to the increase of deceleration/decel rate of change in its length.
Control Power Train with within the shorter period (with higher speed) take the second pattern to have advantages of to take quickly the second pattern when the car retardation.This tool has the following advantages: due to larger second pattern of just more quickly taking of rate of change of deceleration/decel, therefore when car retardation, can enjoy the vehicle maneuverability of improvement.In addition, also reduce vehicle and at Power Train, taked the risk stopping before the second pattern.
In embodiment, this control setup is configured to increase first threshold velocity amplitude according to the increase of deceleration/decel rate of change.
In embodiment, first group of wheel comprises that pair of wheels and first mode are corresponding to by the two-wheel drive operational mode of pair of wheels described in engine drive.
In embodiment, second group of wheel comprises second pair of wheel, and the second operational mode is corresponding to four wheel drive operational mode.
Alternatively, second group of wheel comprises pair of wheels, second pair of wheel and the 3rd pair of wheel, and the second operational mode is corresponding to six wheel drive operational modes.
Alternatively, at least one in first group of wheel and second group of wheel comprises multipair wheel.
In embodiment, primary mover device comprises and is selected from least one in explosive motor and motor.
In aspect claimed Yi Ge of the present invention, a kind of method of controlling machine motor vehicle is provided, described method comprises: a kind of power actuated vehicle is provided, described power actuated vehicle has Power Train, described Power Train can be operable to the primary mover device of described vehicle is connected to first group of one or more wheel and second group of one or more wheel, make: when described Power Train is in the first operational mode, described first group of one or more wheel but not described second group of one or more wheel are attached to the torque transfer path that is derived from described primary mover device, and when described Power Train is in the second operational mode, the two is all attached to the torque transfer path that is derived from described primary mover device described first group of one or more wheel and described second group of one or more wheel, described Power Train comprises slave part, described slave part comprises that first can discharge torque transmission and second and can discharge torque transmission and rear-guard transmission shaft, described first can discharge torque transmission can be operable to the first end of described rear-guard transmission shaft is connected to the described torque transfer path that is derived from described primary mover device, described second can discharge torque transmission can be operable to the second end of described rear-guard transmission shaft is connected to described second group of one or more wheel, described method comprises that described the first torque transmission of control and described the second torque transmission to switch described Power Train between described the first operational mode and described the second operational mode, thus in described first mode, the two all disconnects with being derived from the described torque transfer path of described primary mover device and described second group of one or more wheel to make described rear-guard transmission shaft, and in described the second pattern, described rear-guard transmission shaft is connected to described torque transfer path and the described second group of one or more wheel that are derived from described primary mover device, described method comprises in response to the speed of described vehicle controls described Power Train to be switched to described the second pattern from described first mode.
Of the present invention claimed aspect in, a kind of power actuated vehicle is provided, this power actuated vehicle has: primary mover, the one or more wheels of at least the first and second groups, and Power Train, this Power Train is connected to first group of one or more wheel and second group of one or more wheel by primary mover, make when Power Train in the first operational mode time first group of one or more wheel by prime mover driven and when Power Train is in the second operational mode second group of one or more wheel by primary mover, additionally driven, this Power Train comprises auxiliary power transmission system, this auxiliary power transmission system comprises can discharge torque transmission, this can discharge torque transmission and can be operable to when power transmission ties up to while changing between first mode and the second pattern second group of one or more wheel is connected to primary mover, wherein, when in first mode, vehicle can be operable in response to the speed of vehicle and control Power Train to take the second pattern.
Of the present invention claimed on the other hand in; the method of a kind of controlling machine motor vehicle to change between the first operational mode and the second operational mode is provided; in the first operational mode; the primary mover of vehicle is arranged to drive first group of one or more wheel; and in the second operational mode; primary mover is arranged to drive first group of one or more wheel and is driven second group of one or more wheel, and the method comprises in response to the speed of vehicle controls Power Train to take the step of the second operational mode.
The method can comprise the steps: to control Power Train and take the second pattern when being equal to or less than the first defined threshold velocity amplitude in speed.
The method can comprise controls Power Train to take the second pattern when vehicle is substantially static.
The method can comprise that controlling Power Train takes the second pattern so that and vehicle substantially static at vehicle is in car-parking model.
The method can comprise the steps: to control vehicle to take the second pattern when stationary vehicle and the tail-off.
The method can comprise the steps: to control vehicle and with the change-speed box at stationary vehicle and vehicle, take the second pattern in a kind of pattern in being selected from " parking " pattern and " neutral gear " pattern time.
Alternatively, the method can comprise the steps: to control and when Power Train is equal to or less than the first defined threshold velocity amplitude of non-zero with the speed at vehicle, take the second pattern.
This feature tool has the following advantages: reduced vehicle stop and risk in the configuration of Power Train in taking the second pattern.This configuration can for example occur dentation state owing to can discharging the tooth of torque transmission.
The method can comprise the steps: to control vehicle and be selected from from 1 kilometer/hour to 50 kilometers/hour with the speed at vehicle, from 1 kilometer/hour to 40 kilometers/hour, from 1 kilometer/hour to 30 kilometers/hour, from 1 kilometer/hour to 20 kilometers/hour, from 1 kilometer/hour to 15 kilometers/hour, from 1 kilometer/hour to 10 kilometers/hour, from 1 kilometer/hour to 5 kilometers/hour, in the time of in the scope of at least one from 5 kilometers/hour to 10 kilometers/hour and from 5 kilometers/hour to 15 kilometers/hour, take the second pattern.
The method can comprise the steps: to control vehicle to take first mode when speed surpasses the first defined threshold velocity amplitude.
Alternatively, the method can comprise the steps: to control vehicle and take the second pattern when surpassing than larger the second defined threshold of the first defined threshold in speed.
The first defined threshold velocity amplitude can be equal to or less than 15 kilometers/hour substantially, and the second defined threshold can be greater than 15 kilometers/hour.
When in first mode, the method can comprise that controlling Power Train takes the second pattern with the speed of the deceleration/decel rate of change in response to vehicle.
The method can comprise that controlling Power Train takes the second pattern with the speed increasing according to the increase of deceleration/decel rate of change.
The method can comprise that controlling Power Train takes the second pattern with the speed of a motor vehicle increasing according to the increase of deceleration/decel rate of change.
In the application's scope, can expect in aforementioned paragraphs, in the claims and/or the application's who states in following description and accompanying drawing various aspects, embodiment, example and replacement scheme and particularly feature can be adopted independently or in the mode of its any combination.For example, the feature of describing in conjunction with embodiment is only inconsistent otherwise can be applied to all embodiments.
Accompanying drawing explanation
Now with reference to accompanying drawing, embodiments of the present invention are described, wherein:
Fig. 1 is the schematic diagram of vehicle according to the embodiment of the present invention;
Fig. 2 is as the speed of a motor vehicle of function and the diagram of curves of Power Train pattern of time during a part for the drive cycle of vehicle according to the embodiment of the present invention; And
Fig. 3 is as the speed of a motor vehicle of function and the diagram of curves of Power Train pattern of time during according to a part for the drive cycle of the vehicle of another embodiment of the present invention.
The specific embodiment
Fig. 1 shows the Power Train 5 of power actuated vehicle 1 according to the embodiment of the present invention.This Power Train 5 is connected to explosive motor 11 by change speed gear box 18 and has a pair of front- wheel 12,13, slave part 10 and pair of rear wheels 14,15.
Power Train 5 is arranged to optionally by change speed gear box 18, the power that is supplied to this Power Train 5 to be transferred to only front-wheel 12,13(from explosive motor 11 and is being also referred to as the first operational mode of two-wheel drive operational mode) or transfer to front- wheel 12,13 and trailing wheel 14,15(are being also referred to as under the second operational mode of four wheel drive operational mode simultaneously).
Power transfers to front- wheel 12,13 by Power Train 5 from explosive motor 11 by means of power-transfer clutch 17, change speed gear box 18 and a pair of front propeller shaft 19.
Power transfers to trailing wheel 14,15 by the slave part 10 of Power Train 5.Slave part 10 has power transfer unit (PTU) 24, and this PTU24 has can be operable to the transmission of power power-transfer clutch (PTC) 22 that the main driving axle of slave part 10 (or rear-guard transmission shaft) 23 is connected to change speed gear box 18.Rear-guard transmission shaft 23 then be attached to and can be operable to the rear diff 30 that rear-guard transmission shaft 23 is attached to rear propeller shaft 26.
Rear diff 30 has a pair of power-transfer clutch 27, and rear diff 30 can be operable to when needs four wheel drive operational mode, by this, power-transfer clutch 27 is connected to rear propeller shaft 26 by rear-guard transmission shaft 23.
Power Train 5 has the controller 40 of the operation of being arranged to control PTU24 and power-transfer clutch 27.When needs four wheel drive operational mode, controller 40 is arranged to the power-transfer clutch 27 of closed PTC22 and closed diff 30.
In the embodiment of Fig. 1, Power Train 5 is configured to be converted to four wheel drive pattern from two-wheel drive mode, and in this four wheel drive pattern, PTC22 and diff power-transfer clutch 27 are according to the state S of control inputs 45 dsand it is closed.Control inputs can be provided by driver's operation switch or other control inputs devices.Yet the switching of control inputs 45 can not considered by controller 40 in some cases.Therefore, the existing condition S of Power Train 5 awith state S dsmay be different.State " S a=0 " and state " S corresponding with the first operational mode a=1 " corresponding with the second operational mode.
In some embodiments, do not have control inputs 45 to be arranged for and select two-wheel drive operation or four wheel drive operation.Definitely, vehicle can be operable to according to the basic control signal being produced by controller 40 specially and switch between two-wheel drive mode and four wheel drive pattern.
In the present embodiment, Power Train 5 is configured to the no matter when speed v of vehicle and drops to threshold value v 1below all automatically take four wheel drive operational mode.When speed rising is to v 1when above, unless control inputs 45 is set request four wheel drive pattern for or existence needs four wheel drive pattern to keep other situations that engage, otherwise Power Train is automatically taked two-wheel drive mode.
For example,, by controller 40(or other vehicle control devices) the particular vehicle program such as " snowfield/ice face " landform responder carried out may need Power Train 5 no matter how the speed of vehicle 1 all remains in four wheel drive pattern.
The operation of the Power Train 5 of the embodiment of Fig. 1 is illustrated by the diagram of curves of Fig. 2.This diagram of curves shows speed v when vehicle from first threshold speed v 1above speed drops to v 1following speed also rises and gets back to v subsequently 1the existing condition S of the Power Train 5 of the function as time t during above speed a.Run through whole shown in the period, by the state of the Power Train of control inputs request, be selected state S ds=0.
When speed is at v 1when above, unless controller 40 need in addition as mentioned above, otherwise the state S of Power Train 5 abe set as corresponding with two-wheel drive operational mode zero.When the speed v of vehicle is at time t 1place drops to v 1when following, controller 40 is automatically controlled Power Train 5 to take four wheel drive operational mode (S a=1).At time t 2place, the speed rising of vehicle is to v 1above and controller automatically control Power Train 5 to readopt two-wheel drive operational mode.
In a substituting embodiment of the present invention, controller 40 is configured to arrive than first threshold v when speed rising 1larger Second Threshold v 2when above but not only rise to v when speed 1when above, automatically control Power Train 5 and take two-wheel drive mode to leave four wheel drive pattern.
In Fig. 2, also show according to the operation of the vehicle of this embodiment.Can be observed, the speed of a motor vehicle is at time t 2' afterwards over v 2, and dotted line D shows when speed of a motor vehicle v is over v 2shi Erfei is when the speed of a motor vehicle is over v 1time transformation from four wheel drive pattern to two-wheel drive mode.
Should be understood that, adopt two different threshold speeds to control the switching that power transmission ties up between pattern and there is the risk that can reduce pattern flutter (chattering).
Should be understood that, when adopting single threshold speed, the risk of pattern flutter is larger, be because of in the speed of a motor vehicle around v 1in the situation of fluctuation, may there is the quick switching between first mode and the second pattern.In contrast, in adopting the embodiment of two different threshold speeds, in speed around v 1fluctuate but be no more than v 2situation under, once Power Train has been taked the second pattern, Power Train will remain in the second pattern until speed surpasses v 2till.
In some embodiments of the present invention, v 1for approximately 10 kilometers/hour and v 2for approximately 25 kilometers/hour.Other speed are also available.
In some embodiments, Power Train 5 can be operable to and surpass than v as speed of a motor vehicle v 2larger third speed threshold value v 3time take the second operational mode.Should be understood that, in some Power Trains 5, due to system restriction, can not more than a certain speed, carry out the transformation from the first operational mode to the second operational mode.Therefore, if with first mode when this more than speed is driven, expectation to the second Mode change for example, to improve one or more vehicle performance characteristics (brake, turn or other characteristics), this transformation is impossible.
Therefore,, in order to alleviate this problem, Power Train 5 is configured to be equal to or less than when speed surpasses the threshold velocity v that Power Train 5 can be converted to the maximum speed of the second pattern 3time automatically take the second pattern.In some embodiments, Power Train 5 is arranged to be less than v when speed drops to 3but be greater than v 2threshold velocity v 4when following, automatically readopt the first operational mode.As example, v 3can be (for example) 150km/h and v 4can be (for example) 120km/h.
Fig. 3 shows for according to the car speed v of the function as the time during the drive cycle of the vehicle of another embodiment of the invention and Power Train state S adiagram of curves.According to the embodiment of Fig. 3, Power Train is configured to automatically take second (four wheel drive) pattern when stationary vehicle.
As shown in this diagram of curves, at time t 1place, the speed of a motor vehicle reduces to zero, and controller 40 is controlled Power Train 5 to take the second operational mode (S a=1).At time t 2place, vehicle starts to travel (v increases from zero) again, and at time t 3place, speed surpasses threshold velocity v 1.Once speed surpasses v 1, controller 40 is controlled Power Train 5 to take the first operational mode until speed drops to zero again.In some embodiments, controller 40 is configured to control vehicle to take two-wheel drive operational mode when speed v surpasses approximately 15 kilometers/hour.Other speed are also available.
Should be understood that, embodiments of the present invention tool has the following advantages: when stationary vehicle, Power Train 5 is always in the second operational mode (four wheel drive pattern).Therefore, no matter when vehicle starts to travel from quiescence, is all whole four car wd vehicles of vehicle.This tool has the following advantages: can greatly reduce vehicle and when from static starting, experience the risk of tyre skidding.
Should be understood that, in the embodiment with landform response vehicle program of the present invention, the environmental conditions that chaufeur can exist according to chaufeur perception be selected landform responder.Yet likely, chaufeur not can be appreciated that the risk that has tyre skidding on given surface, and therefore in the situation that do not select suitable program to attempt moving vehicle.
Therefore, some embodiments of the present invention tool has the following advantages: no matter whether chaufeur has selected suitable vehicle program, vehicle all will be attempted at first with four wheel drive pattern but not two-wheel drive mode moves.Therefore, if vehicle vertical surface be thereon the surface that requires four wheel drive operation, no matter the selected vehicle program of chaufeur how, vehicle all will start with four wheel drive pattern mobile at first.
Embodiments of the present invention can be useful the vehicle that is exemplified as of situation be anchored on hayfield and chaufeur leaves the situation of vehicle.On the uncared for Shi， of vehicle meadow, for example due to precipitation, may become moist, make when chaufeur returns, need four wheel drive operation with moving vehicle.Chaufeur may be attempted in the situation that do not move the special-use vehicle program moving vehicle that is suitable for described surface condition such as " meadow/gravel " landform response modes.Yet when chaufeur is attempted moving vehicle, no matter whether chaufeur has selected special-use vehicle program, vehicle all will automatically start mobile with four wheel drive pattern.This causes the Risk Reduction of tyre skidding.
Therefore, embodiments of the present invention tool has the following advantages: no matter the vehicle program of whether having selected suitable chaufeur to select, because vehicle is static, so vehicle all will automatically attempt with four wheel drive operational mode but not two-wheel drive mode moves.
Should be understood that therefore the damage for example causing due to the surface that vehicle is just being attempted to travel thereon does not wish tyre skidding in some cases especially.In addition, even if select subsequently four wheel drive pattern also can become and can not move with the vehicle of two-wheel drive mode experience tyre skidding at first.
Should be understood that, in some embodiments, controller 40 can be not for example be considered with four wheel drive pattern starting vehicle owing to having selected special-use vehicle program or can be operable to due to any other defined terms.
Should be understood that, other power transmission series structures are also available.
The description and the claim that run through this specification sheets, word " comprises " and the variant of " comprising " and these words mean " including, but not limited to ", and be not intended to (and not) and get rid of other parts, additive, parts, integral body or step.
The description and the claim that run through this specification sheets, unless context separately has requirement, otherwise odd number comprises plural number.Especially, in the situation that using indefinite article, unless context separately has requirement, otherwise that specification sheets should be understood to consider is a plurality of and single.
Unless objectionable intermingling each other, otherwise part, integral body, feature, compound, chemical composition or the group in conjunction with particular aspects of the present invention, embodiment or example, described should be understood to be applied to any other aspect, embodiment or example described in literary composition.
The application requires in the preceence of the UK Patent Application No.GB1102822.2 of submission on February 18th, 2011, and its full content is incorporated to herein by reference clearly.

Claims (26)

1. a power actuated vehicle, has:
Primary mover device;
The one or more wheels of at least the first group and second group of one or more wheel; And
Power Train, described Power Train can be operable to described primary mover device is connected to described first group of one or more wheel and described second group of one or more wheel, make: when described Power Train is in the first operational mode, described first group of one or more wheel but not described second group are attached to the torque transfer path that is derived from described primary mover device; And when described Power Train is in the second operational mode, the two is all attached to the torque transfer path that is derived from described primary mover device described first group of one or more wheel and described second group of one or more wheel,
Described Power Train comprises the slave part for being connected to by described second group the described torque transfer path that is derived from described primary mover device, described slave part comprises that first can discharge torque transmission and second and can discharge torque transmission and rear-guard transmission shaft, described first can discharge torque transmission can be operable to the first end of described rear-guard transmission shaft is connected to the described torque transfer path that is derived from described primary mover device, described second can discharge torque transmission can be operable to the second end of described rear-guard transmission shaft is connected to described second group of one or more wheel,
Described vehicle also comprises control setup, described control setup can be operable to controls described the first torque transmission and described the second torque transmission to switch described Power Train between described the first operational mode and described the second operational mode, make in described first mode, the two all disconnects described rear-guard transmission shaft with being derived from the described torque transfer path of described primary mover device and described second group of one or more wheel
Wherein, when in described first mode, described vehicle can be operable in response to the speed of described vehicle and control described Power Train to be switched to described the second pattern from described first mode.
2. vehicle according to claim 1, described vehicle can be operable to be controlled described Power Train and takes described the second pattern when described speed is less than or equal to the first defined threshold velocity amplitude.
3. vehicle according to claim 2, described vehicle can be operable to be controlled described Power Train and takes described the second pattern when described vehicle is substantially static.
4. vehicle according to claim 3, described car construction becomes at described vehicle, when static and described vehicle is in dead ship condition substantially, to control described vehicle and take described the second pattern.
5. vehicle according to claim 4, wherein, described primary mover device comprises that driving engine and described dead ship condition are corresponding to the state of described tail-off.
6. according to the vehicle described in arbitrary aforementioned claim, wherein, described vehicle set has the automatic transmission with hydraulic torque converter with " parking " pattern and " neutral gear " pattern, controls described Power Train and take described the second pattern when described vehicle set becomes at described change-speed box in a kind of pattern in being selected from described " parking " pattern and described " neutral gear " pattern.
7. vehicle according to claim 2, wherein, described the first defined threshold velocity amplitude is non-vanishing.
8. vehicle according to claim 7, wherein, at least one the scope of described the first defined threshold velocity amplitude in being selected from following scope: from 1 kilometer/hour to 50 kilometers/hour, from 1 kilometer/hour to 40 kilometers/hour, from 1 kilometer/hour to 30 kilometers/hour, from 1 kilometer/hour to 20 kilometers/hour, from 1 kilometer/hour to 15 kilometers/hour, from 1 kilometer/hour to 10 kilometers/hour, from 1 kilometer/hour to 5 kilometers/hour, from 5 kilometers/hour to 10 kilometers/hour and from 5 kilometers/hour to 15 kilometers/hour.
9. according to the vehicle described in any one in claim 7 or 8, described car construction becomes in described speed, from the value below described the first defined threshold velocity amplitude, to be elevated to described the first defined threshold velocity amplitude and to take described first mode when above.
10. vehicle according to claim 7, described car construction becomes in described speed, from the value than below the second large defined threshold velocity amplitude of described the first defined threshold velocity amplitude, to be elevated to described the second defined threshold velocity amplitude and to take described first mode when above.
11. vehicles according to claim 10, wherein, described the first defined threshold velocity amplitude is substantially equal to or is less than 15 kilometers/hour, and described the second defined threshold is greater than 15 kilometers/hour.
12. according to the vehicle described in arbitrary aforementioned claim, and described vehicle can be operable to and in described speed, from the value below the 3rd defined threshold velocity amplitude, be elevated to described the 3rd defined threshold velocity amplitude and control described Power Train when above and take described the second pattern.
13. according to the vehicle of quoting described in the claim 12 of claim 2, and wherein, described the 3rd threshold speed value is greater than described first threshold velocity amplitude.
14. according to the vehicle of quoting described in the claim 12 of claim 10, and wherein, described the 3rd threshold speed value is greater than described Second Threshold velocity amplitude.
15. vehicles according to claim 14, wherein, described Power Train can be operable to and in described speed, from value more than the 4th defined threshold velocity amplitude, be reduced to described the 4th defined threshold velocity amplitude and take described first mode, described the 4th defined threshold velocity amplitude to be greater than described the second defined threshold velocity amplitude and be less than described the 3rd defined threshold velocity amplitude when following.
16. according to the vehicle described in arbitrary aforementioned claim, wherein, when described vehicle response is controlled described Power Train when taking described the second pattern in the speed of described vehicle, described vehicle can be operable to controls described Power Train to be accomplished to the transformation of described the second pattern within a period, and the length of described period is in response to the rate of change of the deceleration/decel of described vehicle.
17. vehicles according to claim 16, wherein, when described vehicle response is controlled described Power Train when taking described the second pattern in the speed of described vehicle, described car construction becomes to control described Power Train to be accomplished to the transformation of described the second pattern within a period, and the length of described period reduces along with the increase of the rate of change of deceleration/decel.
18. according to claim 2 or quote the vehicle described in any one in the claim 3 to 17 of claim 2, and wherein, described first threshold velocity amplitude increases along with the increase of the rate of change of deceleration/decel.
19. according to the vehicle described in arbitrary aforementioned claim, and wherein, described first group of wheel comprises pair of wheels, and, described first mode is corresponding to two-wheel drive operational mode, and in described two-wheel drive operational mode, described pair of wheels is by described engine drive.
20. according to the vehicle described in arbitrary aforementioned claim, and wherein, described second group of wheel comprises second pair of wheel, and described the second operational mode is corresponding to four wheel drive operational mode.
21. according to the vehicle described in any one in claim 1 to 19, and wherein, described second group of wheel comprises pair of wheels, second pair of wheel and the 3rd pair of wheel, and described the second operational mode is corresponding to six wheel drive operational modes.
22. according to the vehicle described in any one in claim 1 to 18, and wherein, at least one in described first group of wheel and described second group of wheel comprises multipair wheel.
23. according to the vehicle described in arbitrary aforementioned claim, and wherein, described primary mover device comprises and is selected from least one in explosive motor and motor.
The method of 24. 1 kinds of controlling machine motor vehicle, comprising:
A kind of power actuated vehicle is provided, described power actuated vehicle has Power Train, described Power Train can be operable to the primary mover device of described vehicle is connected to first group of one or more wheel and second group of one or more wheel, make: when described Power Train is in the first operational mode, described first group of one or more wheel but not described second group of one or more wheel are attached to the torque transfer path that is derived from described primary mover device, and when described Power Train is in the second operational mode, the two is all attached to the torque transfer path that is derived from described primary mover device described first group of one or more wheel and described second group of one or more wheel, described Power Train comprises slave part, described slave part comprises that first can discharge torque transmission and second and can discharge torque transmission and rear-guard transmission shaft, described first can discharge torque transmission can be operable to the first end of described rear-guard transmission shaft is connected to the described torque transfer path that is derived from described primary mover device, described second can discharge torque transmission can be operable to the second end of described rear-guard transmission shaft is connected to described second group of one or more wheel,
Described method comprises that described the first torque transmission of control and described the second torque transmission to switch described Power Train between described the first operational mode and described the second operational mode, thus in described first mode, the two all disconnects with being derived from the described torque transfer path of described primary mover device and described second group of one or more wheel to make described rear-guard transmission shaft, and in described the second pattern, by described rear-guard transmission shaft be connected to be derived from the described torque transfer path of described primary mover device and described second group of one or more wheel the two,
Described method comprises in response to the speed of described vehicle controls described Power Train to be switched to described the second pattern from described first mode.
25. 1 kinds of systems for vehicle, described vehicle has Power Train, described Power Train comprises primary mover, at least one pair of trailing wheel, for described primary mover being connected to the axle of described trailing wheel, and for rear-guard transmission shaft being optionally connected to respectively to the first connecting device and second connecting device of described primary mover and described trailing wheel, described system comprises control setup, described control setup is configured to control in an operational mode in the first operational mode and the second operational mode the operation of described the first connecting device and described the second connecting device, in described the first operational mode, the two all disconnects to make described rear-guard transmission shaft and described primary mover and described trailing wheel, in described the second operational mode, described primary mover is connected to described trailing wheel by described rear-guard transmission shaft, described control setup is arranged to arrive the transformation of initiation from described the first operational mode to described the second operational mode below predetermined threshold velocity in response to the Speed Reduction of described vehicle.
26. is basic as the vehicle, system or the method that above describe with reference to the accompanying drawings.
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GB2488240B (en) 2013-09-04
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JP2014511300A (en) 2014-05-15

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